JPS61229707A - Device for turning fitting material - Google Patents

Abstract

PURPOSE:To easily and reliably adapt the rotary state to the fitting posture by rotatably mounting a holder on a frame capable of freely moving up and down, and adjusting the turning angle of the holder. CONSTITUTION:A fitting material 27 is held on a holding arm 29, and a handle 24 is turned to turn a rotary holder 25. At this time, the rotation of the handle 24 is transmitted to the rotary holder 25 by a worm and a worm wheel not shown, so that the rotary holder can be stopped and positioned at any rotary position. The position of a holding portion 28 is adjusted to the turning center position E of the rotary holder 25 so that the center of gravity G of the fitting material 27 is aligned with the turning center to reduce moment in the periphery of the turning center of the rotary holder 25 and the fitting material 27. In this arrangement, the rotary state adapted to the fitting posture can be obtained easily and reliably.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a device for turning an attachment.

[Prior Art 1] Conventionally, when attaching an attachment, particularly a heavy attachment, to a part to be attached in a predetermined attachment posture, the attachment is suspended by, for example, a plurality of hanging ropes. In other words, when attaching an attachment using a hanging rope, the suspended attachment may be moved by adjusting the length of each hanging rope or by applying an external force to the suspended attachment. The fitting predetermined mounting posture state is reversed, and the mounted object suspended in this state is transported to the mounted part and the mounted object is mounted on the mounted part.

[Problems to be Solved by the Invention] However, as described above, the work of adjusting the length of the hanging rope or rotating the attached object to a predetermined mounting posture by applying an external force to the attached object requires a lot of effort. It takes a while,
Particularly in the case of mounting work such as robots, etc., which requires mounting at a precise mounting angle to the part to be mounted.
A high degree of skill was required to turn the device to the desired mounting angle. For this reason, the work of turning the attachment into a predetermined attachment posture using the above-mentioned conventional method was considered to be inefficient.

An object of the present invention is to easily and reliably provide an attached object with a rotational state that matches the mounting orientation.

[Means for solving problems] The first aspect of the present invention is to achieve the above object.

A rotation device for an attachment that enables the attachment to be attached to an attached part in a predetermined attachment posture, the rotation device comprising a frame and a holding part that is rotatably supported by the frame and holds the attachment. It has a holder, and by adjusting the rotation of the rotary holder with respect to the frame, the attachment held by the holder can be rotated to a predetermined angle.

The second aspect of the present invention is an attachment rotation device that allows the attachment to be attached to an attached part in a predetermined attachment posture, and includes a frame and a frame that is rotatably supported and holds the attachment. The rotary holder has a holding part that rotates, and the attached object held on the holding part can be rotated to a predetermined angle by adjusting the rotation of the rotary holder with respect to the frame. The position of the holding part with respect to the center of motion can be adjusted.

[Function] According to the WSl of the present invention, by holding the attached object in the holding part and rotating the rotary holder with respect to the frame, the attached object can be easily adjusted to its mounting posture. Moreover, it becomes possible to reliably turn the rotation at a predetermined angle.

Furthermore, according to the second aspect of the present invention, by adjusting the position of the holding part with respect to the center of rotation of the one-turn holding body, it is possible to align the center of gravity of the attachment held by the holding part with the center of rotation. This reduces the moment around the center of rotation of the one-turn holding body and the attached object, and makes it possible to easily and reliably bend the attached object to a predetermined angle in accordance with its mounting posture.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a front view showing an attachment turning device according to an embodiment of the present invention, FIG. 2 is a side view of the same, FIG. 3 is an open plan view, and FIG.
FIG. 5 is a perspective view showing a state in which a robot as an attachment is held in a holding part of an attachment turning device, and FIG. 5 is a perspective view showing a state in which the robot as an attachment held in the holding part is rotated.

FIGS. 6 and 7 are side views respectively showing the mounting posture of the robot as an attachment.

The attachment turning device 10 includes a base 11, and can be placed on a mounting surface 12 via the base 11. The base 11 is provided with a hole 13 for inserting a fork of a forklift, as shown in FIG. That is, the attachment turning device 10 can be held in a state where a fork of a forklift (not shown) is inserted into the hole 13, thereby making it possible to transport the attachment turning device 10 to any working position. Four wooden posts 14 are erected on the top of the base 11, and a vertically movable frame 15 is supported by the posts 14. That is, the vertically movable frame 15 is provided with fitting holes 16 into which each of the columns 14 can be fitted, and the vertically movable frame 15 is provided with fitting holes 16 for each column 14.
It can be moved up and down in the direction of arrow A by sliding it up and down. The vertically movable frame 15 that slides in the vertical direction [direction A] is provided with fixing bolts 17 that can position and support each support column 14 at a predetermined height. That is, the fixing bolt 17 is attached to the vertically movable frame 1.
5 is stopped at a desired height position and rotated in the tightening direction, and by bringing the tip of the stop bolt 17 into contact with the column 14, the vertically movable frame 15 can be positioned at a predetermined height position. .

The vertically movable frame 15 supports a rotating shaft 18 that is rotatable in the direction of arrow B. At one end of the rotating shaft 18, the rotating shaft 18 is connected to the vertically movable frame 15. The zero rotation means 19 is equipped with a rotation means 19 that can be rotated in the direction of arrow B. The rotation means 19 includes a worm shaft 21 having a worm part 20 disposed on the vertically movable frame 15 and one end of the rotation shaft 18. The worm wheel 22 is attached to the worm wheel 22.

The worm shaft 21 is supported by a bearing portion 23 disposed on the lower L movable frame 15, and the worm shaft 21 is disposed with its axis perpendicular to the axis of the rotating shaft 1B. The worm portion 20 of the worm shaft 21 is engaged with a worm wheel 22, and the worm shaft 21 can be rotated in the direction of arrow C by a rotation operation of a handle 24 attached to one end of the worm shaft 21. . As a result, when the worm shaft 21 is rotated based on the rotation operation of the handle 24, the rotational force is transmitted to the rotation shaft 18 through the engagement of the worm portion 20 and the worm wheel 22. . This makes it possible to adjust the rotation of the single rotation shaft 18 with respect to the vertically movable frame 15 by rotating the handle 24.

A 1-turn holder 25 is attached to the other end of the rotation shaft 18. The 0-turn holder 25 includes a rotation frame 26 supported around the other end of the 1-turn shaft 18. The zero rotation frame 26 is capable of rotating in the direction of arrow B as the rotation shaft 18 rotates, and is capable of holding an attachment 27 as shown in FIG. 12. A holding portion 28 is supported.

The holding part 28 has a holding part 2 that can hold the attachment 27.
9, and a pair of support shafts 30 are provided at one end of the holding arm 29. The holding portion 2B supports the support shaft 30 in a state where it is inserted into a fitting hole 31 formed in the rotating frame 2B. That is, the holding part 2B is capable of sliding the support shaft 30 in the direction of the arrow with respect to the insertion hole 31, thereby making it possible to adjust the position It (rotation radius L) of the holding part 2B with respect to the rotation shaft 18. The zero rotation frame 26 has a support shaft 30 that is slid in the direction of the arrow.
A locking bolt 32 is provided that allows the rotary frame 26 to support the rotary frame 26 at any sliding position. The locking bolt 32 is rotated in the tightening direction with the holding portion 28 slid to an arbitrary position relative to the rotating wheel 1B, and the holding portion 28 is rotated by bringing the tip of the locking bolt 32 into contact with the support shaft 30. It is possible to position it at any position with respect to the shaft 18. In this way, the upper surface 29A of the holding arm 29 of the holding part 28
The attachment 27 held in the is fixed to the holding arm 29 by bolts, nuts, etc., and is rotated in the direction of arrow B in FIG. It becomes possible. As a result, the attachment 27 can be rotated to a predetermined angle corresponding to a predetermined attachment posture with respect to the attached part. '-, by sliding the holding part 28 with respect to the rotating frame 26, the center of gravity G of the attachment 27 held by the holding arm 29 is adjusted to the center of rotation of the rotating holder 25 as shown in FIG. By appropriately positioning the rotary shaft 18 at position E, that is, at the position of the rotary shaft 18, it becomes possible to reduce the moment about the rotation center of the rotary holder 25 and the attachment 27. When the attachment 27 is rotated in accordance with a predetermined attachment posture, the attachment 27 is held by a hanging rope or the like and is detached from the holding arm 29. Further, the attachment 27 is transported to the attachment target part using a hanging rope or the like while maintaining a predetermined attachment attitude, and can be attached to the attachment target part in this state.

Next, based on FIGS. 4 to 7, the rotation device 2 of the above attachment
A case will be described in which the robot 40 as an attachment is rotated by to.

The robot 40 has a robot arm 42 supported on a base 41, and the tip of the arm 42 is used to perform predetermined operations, such as attaching and processing parts. The robot 40 can be mounted in various ways, such as when it is attached to an attached part 44 formed on a ceiling part 43 as shown in FIG. 6 or to an attached part 46 formed on a wall part 45 as shown in FIG. It can be attached to each attached part 44, 46 with the posture,
Therefore, the robot 40 is rotated to a predetermined mounting posture by the rotation device 21to of the attachment. The robot 40 is first positioned in a stable position with the base 41 facing downward and the robot arm 42 facing upward, and in this state, the suspension rope 4B is engaged with the suspension eye bolt 47 attached to the base 41.

The suspended rope 48 is suspended by a hook 49 of the crane, and the suspended robot 40 is suspended from the upper surface 2.
9AI, , is lowered as shown in FIG.
placed on top. At this time, as shown in FIG.
8 relative to the rotating frame 26 in the direction of the arrow, so that the center of gravity G of the robot 40 and the center of rotation E of the rotating holder 25 are positioned accordingly. Holding arm 29
The robot 40 placed on the top has a mounting hole 50 drilled in the base 41 and a hole 51 drilled in the holding arm 29 shown in FIG. Then, the bolt 52 and nut 53 are screwed together. As a result, the robot 40 is attached and held on the holding arm 29.

When the robot 40 is held on the holding arm 29, the eye bolt 47 for suspension is removed from the base 41, and the handle 24 is then rotated to rotate the rotary holder 25 in the direction of arrow B. Make it. When the robot 40 is rotated to the predetermined mounting posture shown in FIG. 6 or 7 by rotating the handle 24, the handle is stopped. This allows the robot 40 held on the holding arm 29 to be positioned in a state corresponding to the mounting orientation. Namely.

The rotation shaft 18 that rotates the rotation holding body 25 is connected to the worm portion 2
0 and the worm wheel 22, the handle 24
Since the rotational force applied from the worm wheel 22 side to the worm part 20 side is transmitted, the transmission of the rotational force from the worm wheel 22 side to the worm part 20 side is cut off.

By stopping the handle 24 at an arbitrary stop position, the holding member 29 can be positioned at a predetermined angle. As a result, it becomes possible to position the robot 40 held on the holding arm 29 at a predetermined angle.

When the robot 40 on the holding arm 29 is rotated to a predetermined angle, as shown in FIG. 5, for example, a suspension eye bolt 47 is attached to the base 41.

In this state, a hanging rope 48 is attached to the eye bolt 47, and the hanging rope 48 is suspended by a hook 49 of the crane. Once the robot 40 is held by the hanging rope 48, the bolt 52 and nut 53 are first unscrewed and the robot 40 is removed from the holding arm 29. As a result, the robot 40 is suspended by the suspension rope 48 while being rotated to a predetermined mounting posture. In this state, the robot 40 can be moved and attached to any desired attachment part using a crane while maintaining the attachment posture.

Next, the operation of the above embodiment will be explained.

Rotating equipment for attachments according to the above embodiment! According to No. 10, by holding the attachment 27 on the holding arm 29 and rotating the one-turn holding body 25 by rotating the handle 24, the attachment 27 can be easily and reliably adjusted to its mounting orientation. It is possible to turn around.

Moreover, according to the rotation device lO of the attachment, one rotation holding body 25
By adjusting the position of the holding part 28 with respect to the center of rotation IE, it becomes possible to align the center of gravity G of the attachment 27 held by the holding arm 29 with the center of rotation. The moment around the center of rotation of the attachment 27 is reduced, and the attachment 27 can be easily and reliably rotated to a predetermined angle in accordance with its mounting orientation.

In addition, in the attachment turning device 10 according to the above embodiment, the one-turn holder 25 is manually rotated based on the rotation operation of the handle 24, but the drive shaft of the electric motor is directly connected to the rotation axis. 18, and the rotary holder 25 may be rotated by drive control of the motor.

[Effects of the Invention] As described below, the first aspect of the present invention is a rotation device for an attachment that allows the attachment to be attached to an attached part in a predetermined attachment posture.
The attachment includes a frame and a rotating holder that is rotatably supported by the frame and includes a holder for holding an attached object, and is held by the holder by adjusting the rotation of the rotating holder with respect to the frame. A second aspect of the present invention is an attachment turning device that enables an attachment to be rotated to a predetermined angle, and the attachment can be attached to an attached part in a predetermined attachment posture, the attachment turning device including a frame and a frame attached to the frame. It has a rotating holder that is rotatably supported and includes a holding part that holds the attached object, and the attached object held in the holding part can be rotated to a predetermined angle by adjusting the rotation of the rotating holder with respect to the frame. In addition to making it possible to adjust the position of the holding part with respect to the center of rotation of the rotating holding body,
This has the effect that the attached object can be easily and reliably given a rotational state that matches the mounting orientation.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an attachment turning device according to an embodiment of the present invention, FIG. 2 is a side view of the same, FIG. 3 is an open plan view, and FIG.
FIG. 5 is a perspective view showing a state in which a robot as an attachment is held in a holding part of an attachment turning device, and FIG. 5 is a perspective view showing a state in which the robot as an attachment held in the holding part is rotated. FIGS. 6 and 7 are side views respectively showing the mounting posture of the robot as an attachment. 10... Attachment turning device, 15... Vertically movable frame, 1.9... Rotating means, 25... Rotating holder,
26...Rotating frame, 27...Attachment, 28...
・Holding part. 29... Holding arm, 40... Robot, 44°4
6... Attached part. Agent Patent Attorney Osamu Shiokawa Figures 1 and 8 Figure 2 Figure 3 and Figure 6

Claims (2)

[Claims] (1) An attachment turning device that allows the attachment to be attached to an attached part in a predetermined attachment posture, and includes a frame and a holding part that is rotatably supported by the frame and holds the attachment. 1. An attachment turning device, which has a rotation holder and is capable of rotating an attachment held by the holding part to a predetermined angle by adjusting the rotation of the rotation holder with respect to the frame. (2) An attachment turning device that enables the attachment to be attached to an attached part in a predetermined attachment posture, and includes a frame and a holding part that is rotatably supported by the frame and holds the attachment. It has a rotary holder, and by adjusting the rotation of the rotary holder with respect to the frame, the attachment held by the holder can be rotated to a predetermined angle, and the holder is relative to the center of rotation of the rotary holder. An attachment rotation device that allows the position of the fixture to be adjusted.